How can I manipulate these fingers?
To do this:

import bpy
import math

ob = bpy.data.objects['Armature']
bpy.context.scene.objects.active = ob
bpy.ops.object.mode_set(mode='POSE')
bonename = 'finger_index.01.R'
pb = ob.pose.bones[bonename]
pb.rotation_mode = 'XYZ'
angleX = 5
angleY = 5
angleZ = 5
pb.rotation_euler =
 (math.radians(angleX),math.radians(angleY),math.radians(angleZ))
bpy.ops.object.mode_set(mode='OBJECT')